{"id":"https://openalex.org/W2010770351","doi":"https://doi.org/10.1109/iros.2013.6696893","title":"On the impact of learning hierarchical representations for visual recognition in robotics","display_name":"On the impact of learning hierarchical representations for visual recognition in robotics","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2010770351","doi":"https://doi.org/10.1109/iros.2013.6696893","mag":"2010770351"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048960946","display_name":"Carlo Ciliberto","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Ciliberto","raw_affiliation_strings":["Icub Facility, Istituto Italiano di Tecnologia","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Icub Facility, Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056677910","display_name":"Sean Fanello","orcid":"https://orcid.org/0000-0001-9726-4501"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sean Ryan Fanello","raw_affiliation_strings":["Icub Facility, Istituto Italiano di Tecnologia","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Icub Facility, Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033050657","display_name":"Matteo Santoro","orcid":"https://orcid.org/0000-0002-1670-5609"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"Matteo Santoro","raw_affiliation_strings":["LCSL, Massachusetts Institute of Technology","LCSL, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LCSL, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"LCSL, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Icub Facility, Istituto Italiano di Tecnologia","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Icub Facility, Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["Icub Facility, Istituto Italiano di Tecnologia","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Icub Facility, Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061220999","display_name":"Lorenzo Rosasco","orcid":"https://orcid.org/0000-0003-3098-383X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"Lorenzo Rosasco","raw_affiliation_strings":["LCSL, Massachusetts Institute of Technology","LCSL, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LCSL, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"LCSL, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2101,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8920974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3759","last_page":"3764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.9537127017974854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.812781810760498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7383127212524414},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6355491876602173},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6244266033172607},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5772644877433777},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.575040876865387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.559645414352417},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5246781706809998},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4710792303085327},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.32273629307746887},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.2527311444282532}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9537127017974854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.812781810760498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383127212524414},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6355491876602173},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6244266033172607},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5772644877433777},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.575040876865387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.559645414352417},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5246781706809998},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4710792303085327},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.32273629307746887},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2527311444282532},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/800405","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/800405","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W79571608","https://openalex.org/W129703402","https://openalex.org/W1494019289","https://openalex.org/W1597295622","https://openalex.org/W1625255723","https://openalex.org/W2027922120","https://openalex.org/W2031342017","https://openalex.org/W2036054070","https://openalex.org/W2037227137","https://openalex.org/W2042867527","https://openalex.org/W2058761328","https://openalex.org/W2066941820","https://openalex.org/W2085261163","https://openalex.org/W2090042335","https://openalex.org/W2096077837","https://openalex.org/W2097018403","https://openalex.org/W2106403825","https://openalex.org/W2107034620","https://openalex.org/W2118585731","https://openalex.org/W2123869488","https://openalex.org/W2132311402","https://openalex.org/W2139146597","https://openalex.org/W2140987615","https://openalex.org/W2144982973","https://openalex.org/W2146447720","https://openalex.org/W2148546139","https://openalex.org/W2148603752","https://openalex.org/W2151103935","https://openalex.org/W2156222070","https://openalex.org/W2160692033","https://openalex.org/W2161112350","https://openalex.org/W2162866804","https://openalex.org/W2162915993","https://openalex.org/W2166049352","https://openalex.org/W2170549527","https://openalex.org/W2401955049","https://openalex.org/W2973878447","https://openalex.org/W3140976067","https://openalex.org/W4232730838","https://openalex.org/W6603201145","https://openalex.org/W6605295242","https://openalex.org/W6659336525","https://openalex.org/W6674642818","https://openalex.org/W6677656871","https://openalex.org/W6683942357","https://openalex.org/W6712843281"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W3106073779","https://openalex.org/W2198321481"],"abstract_inverted_index":{"Recent":[0],"developments":[1],"in":[2,13,25,34,53,97],"learning":[3,108,128],"sophisticated,":[4],"hierarchical":[5,107,127],"image":[6,48],"representations":[7],"have":[8,43],"led":[9],"to":[10,112],"remarkable":[11],"progress":[12],"the":[14,73,85],"context":[15],"of":[16,39,70,72,87,106,142],"visual":[17,77],"recognition.":[18],"While":[19],"these":[20],"methods":[21,75],"are":[22,31,110,130],"becoming":[23],"standard":[24],"modern":[26],"computer":[27],"vision":[28],"systems,":[29],"they":[30],"rarely":[32],"adopted":[33],"robotics.":[35],"The":[36,103],"question":[37,65],"arises":[38],"whether":[40],"solutions,":[41],"which":[42],"been":[44],"primarily":[45],"developed":[46],"for":[47,76,137],"retrieval,":[49],"can":[50,134],"perform":[51],"well":[52],"more":[54],"dynamic":[55],"and":[56,120,133,140],"unstructured":[57],"scenarios.":[58],"In":[59],"this":[60,64],"paper":[61],"we":[62],"tackle":[63],"performing":[66],"an":[67],"extensive":[68],"evaluation":[69],"state":[71],"art":[74],"recognition":[78,141],"on":[79,117],"a":[80,94,98],"iCub":[81],"robot.":[82],"We":[83],"consider":[84],"problem":[86],"classifying":[88],"15":[89],"different":[90],"objects":[91],"shown":[92,111],"by":[93],"human":[95],"demonstrator":[96],"challenging":[99],"Human-Robot":[100],"Interaction":[101],"scenario.":[102],"classification":[104],"performance":[105],"approaches":[109],"outperform":[113],"benchmark":[114],"solutions":[115],"based":[116],"local":[118],"descriptors":[119],"template":[121],"matching.":[122],"Our":[123],"results":[124],"show":[125],"that":[126],"systems":[129],"computationally":[131],"efficient":[132],"be":[135],"used":[136],"real-time":[138],"training":[139],"objects.":[143]},"counts_by_year":[{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
